MAVLINK Message Set: minimal.xml

This is a human-readable form of the XML definition file: minimal.xml.

MAVLink 2 messages have an ID > 255 and are marked up using (MAVLink 2) in their description.

MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue.

MAVLink Protocol Version

The current MAVLink version is 2.2. The minor version numbers (after the dot) range from 1-255.

MAVLink Type Enumerations

MAV_AUTOPILOT

Micro air vehicle / autopilot classes. This identifies the individual model.

Value	Field Name	Description
0	MAV_AUTOPILOT_GENERIC	Generic autopilot, full support for everything
1	MAV_AUTOPILOT_PIXHAWK	PIXHAWK autopilot, http://pixhawk.ethz.ch
2	MAV_AUTOPILOT_SLUGS	SLUGS autopilot, http://slugsuav.soe.ucsc.edu
3	MAV_AUTOPILOT_ARDUPILOTMEGA	ArduPilotMega / ArduCopter, http://diydrones.com
4	MAV_AUTOPILOT_OPENPILOT	OpenPilot, http://openpilot.org
5	MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY	Generic autopilot only supporting simple waypoints
6	MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY	Generic autopilot supporting waypoints and other simple navigation commands
7	MAV_AUTOPILOT_GENERIC_MISSION_FULL	Generic autopilot supporting the full mission command set
8	MAV_AUTOPILOT_INVALID	No valid autopilot, e.g. a GCS or other MAVLink component
9	MAV_AUTOPILOT_PPZ	PPZ UAV - http://nongnu.org/paparazzi
10	MAV_AUTOPILOT_UDB	UAV Dev Board
11	MAV_AUTOPILOT_FP	FlexiPilot

MAV_TYPE

Value	Field Name	Description
0	MAV_TYPE_GENERIC	Generic micro air vehicle.
1	MAV_TYPE_FIXED_WING	Fixed wing aircraft.
2	MAV_TYPE_QUADROTOR	Quadrotor
3	MAV_TYPE_COAXIAL	Coaxial helicopter
4	MAV_TYPE_HELICOPTER	Normal helicopter with tail rotor.
5	MAV_TYPE_ANTENNA_TRACKER	Ground installation
6	MAV_TYPE_GCS	Operator control unit / ground control station
7	MAV_TYPE_AIRSHIP	Airship, controlled
8	MAV_TYPE_FREE_BALLOON	Free balloon, uncontrolled
9	MAV_TYPE_ROCKET	Rocket
10	MAV_TYPE_GROUND_ROVER	Ground rover
11	MAV_TYPE_SURFACE_BOAT	Surface vessel, boat, ship
12	MAV_TYPE_SUBMARINE	Submarine
13	MAV_TYPE_HEXAROTOR	Hexarotor
14	MAV_TYPE_OCTOROTOR	Octorotor
15	MAV_TYPE_TRICOPTER	Octorotor
16	MAV_TYPE_FLAPPING_WING	Flapping wing

MAV_MODE_FLAG

These flags encode the MAV mode.

Value	Field Name	Description
128	MAV_MODE_FLAG_SAFETY_ARMED	0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly.
64	MAV_MODE_FLAG_MANUAL_INPUT_ENABLED	0b01000000 remote control input is enabled.
32	MAV_MODE_FLAG_HIL_ENABLED	0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
16	MAV_MODE_FLAG_STABILIZE_ENABLED	0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
8	MAV_MODE_FLAG_GUIDED_ENABLED	0b00001000 guided mode enabled, system flies waypoints / mission items.
4	MAV_MODE_FLAG_AUTO_ENABLED	0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
2	MAV_MODE_FLAG_TEST_ENABLED	0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
1	MAV_MODE_FLAG_CUSTOM_MODE_ENABLED	0b00000001 Reserved for future use.

These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.

Value	Field Name	Description
128	MAV_MODE_FLAG_DECODE_POSITION_SAFETY	First bit: 10000000
64	MAV_MODE_FLAG_DECODE_POSITION_MANUAL	Second bit: 01000000
32	MAV_MODE_FLAG_DECODE_POSITION_HIL	Third bit: 00100000
16	MAV_MODE_FLAG_DECODE_POSITION_STABILIZE	Fourth bit: 00010000
8	MAV_MODE_FLAG_DECODE_POSITION_GUIDED	Fifth bit: 00001000
4	MAV_MODE_FLAG_DECODE_POSITION_AUTO	Sixt bit: 00000100
2	MAV_MODE_FLAG_DECODE_POSITION_TEST	Seventh bit: 00000010
1	MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE	Eighth bit: 00000001

MAV_STATE

Value	Field Name	Description
0	MAV_STATE_UNINIT	Uninitialized system, state is unknown.
	MAV_STATE_BOOT	System is booting up.
	MAV_STATE_CALIBRATING	System is calibrating and not flight-ready.
	MAV_STATE_STANDBY	System is grounded and on standby. It can be launched any time.
	MAV_STATE_ACTIVE	System is active and might be already airborne. Motors are engaged.
	MAV_STATE_CRITICAL	System is in a non-normal flight mode. It can however still navigate.
	MAV_STATE_EMERGENCY	System is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down.
	MAV_STATE_POWEROFF	System just initialized its power-down sequence, will shut down now.

MAVLink Commands (MAV_CMD)